Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes

多种工作模式的机器人系统的综合、控制和实验验证

• 批准号: RGPIN-2016-04272
• 负责人: Liu, Guang
• 金额: $ 3.35万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638601
• 关键词: Synthesis; Control; Experimental; Validation; Robotic

Robots nowadays are expected to perform more and more tasks in so called unstructured environments, including typically human and space environments. New research challenges emerge as robots interact, assist, serve, and explore with humans. Versatile robot manipulators with multiple working modes play substantial roles in tackling these new challenges. The long term objective of the proposed research program is to develop versatile robotic systems for efficient and safe robotic manipulations in unstructured human and space environments, featuring innovative design and control techniques of robot manipulators that can mimic and extend certain human arm capabilities with multiple working modes. In line with this long term objective, and building upon our recent research achievements, the proposed research program will generalize a recently proposed multiple working mode robot control approach and extend its applications on robotic tasks that involve unstructured environments and call for innovative design and control techniques. More specifically, the short-term objectives are planned as follows: 1) develop an innovative robot control framework by generalizing our recently proposed multiple working mode robot control approach for solving problems caused by modelling inaccuracies associated with unstructured environments; 2) further develop a spring-assisted robotic arm and control system for dexterous and safe manipulations with multiple working modes; 3) synthesize a control scheme that allows a space manipulator with multiple working modes to dampen the tumbling motion of an unknown target such as a tumbling satellite or space debris while identifying the target’s unknown inertial parameters without exceeding limits on the interaction forces at the grasping point; 4) investigate and experimentally validate control of robot manipulators based on joint torque estimation using link and actuator side position sensors; and 5) develop software system architecture and programs for robot manipulators operating with multiple working modes and conduct experimental investigation and validation of proposed control methods.

如今，机器人被期望在所谓的非结构化环境中执行越来越多的任务，包括典型的人类和空间环境。随着机器人与人类互动、协助、服务和探索，新的研究挑战出现了。具有多种工作模式的多功能机器人操作器在应对这些新挑战方面发挥着重要作用。拟议的研究计划的长期目标是开发多功能机器人系统，用于在非结构化的人类和空间环境中进行高效和安全的机器人操作，具有创新的机器人操作器设计和控制技术，可以模仿和扩展某些具有多种工作模式的人类手臂功能。根据这一长期目标，并在我们最近的研究成果的基础上，拟议的研究计划将推广最近提出的多工作模式机器人控制方法，并扩展其在涉及非结构化环境的机器人任务中的应用，并要求创新的设计和控制技术。更具体地说，短期目标计划如下：1）通过推广我们最近提出的多工作模式机器人控制方法，开发一个创新的机器人控制框架，以解决与非结构化环境相关的建模不准确引起的问题; 2）进一步开发弹簧辅助机器人手臂和控制系统，以实现灵活和安全的多工作模式操作; 3）综合一种控制方案，使具有多种工作模式的空间机械臂能够抑制未知目标（如翻滚的卫星或空间碎片）的翻滚运动，同时识别目标的未知惯性参数，而不超过抓持点处的相互作用力的限制; 4）研究和实验验证基于使用连杆和致动器侧位置传感器的关节扭矩估计的机器人操作器的控制;（五）开发用于多种工作模式操作的机器人操作器的软件系统架构和程序，并进行实验研究，验证拟议的控制方法。